CN215749140U

CN215749140U - Construction robot with multiple sensors

Info

Publication number: CN215749140U
Application number: CN202122271731.8U
Authority: CN
Inventors: 赵亮; 李春轩
Original assignee: Xi'an Construction Technology University Engineering Co ltd
Current assignee: Xi'an Construction Technology University Engineering Co ltd
Priority date: 2021-09-18
Filing date: 2021-09-18
Publication date: 2022-02-08
Anticipated expiration: 2031-09-18

Abstract

The utility model discloses a multi-sensor building robot, wherein a main body of the building robot is composed of a mechanical arm and a movable base. The construction robot is provided with a mechanical arm and a plurality of cameras on a system main control box body, the RGB-D cameras are used for completing external image information acquisition work, and the construction robot can clearly determine the position of the construction robot at any time, so that the construction robot can be better controlled and detected, and the construction robot can be moved as required.

Description

Construction robot with multiple sensors

Technical Field

The utility model belongs to the field of buildings, and particularly relates to a multi-sensor building robot.

Background

In recent years, "building industrialization" and "green building" provide unprecedented development opportunities for the deep integration of informatization and building industrialization, and the robot technology can powerfully promote the technical upgrading, production mode and management mode change of the building industry and shape the novel building industry state of industrialization and intellectualization. The construction robot is a necessary choice for ensuring the safety of constructors and improving the working quality; the method is also a necessary choice for solving the increasing shortage of human resources in construction; the problems of extensive traditional manual operation mode, large waste of building materials and the like are better solved, and the era appeal of the conservation-oriented society is constructed. The construction robot needs to consider the moving process of the robot, the use process of the mechanical arm and the like in the working process, and specifically includes path planning, real-time obstacle avoidance detection, current scene recognition, mechanical arm control and the like in the moving process of the construction robot.

The most basic technology in the process of planning the moving path of the robot at present is that map modeling work needs to be carried out on the environment where the robot is located at present, and at present, two methods of manual map model input and autonomous exploration modeling exist. When the manual map model is used for input, the working range of the robot is greatly limited, and the robot is only suitable for scenes in which the map environment is not easy to change and is not suitable for environments in which the scenes are frequently changed. In addition, various errors may occur during manual map input, which may affect the use of the robot.

Utility model

The utility model aims to overcome the defects of the prior art and provide a multi-sensor building robot to solve the problem that the building robot in the prior art is difficult to adapt to the environmental characteristics of complex building construction environment and various barriers, and the building robot can move as required.

In order to achieve the purpose, the utility model adopts the following technical scheme to realize the purpose:

a multi-sensor building robot comprises a vehicle body, wherein a system main control box body and a mechanical arm are arranged on the vehicle body, and the mechanical arm and the system main control box body are arranged adjacently; the lower part of the vehicle body is connected with a driving device, and the lower part of the driving device is rotatably connected with wheels; two ends of the upper part of the vehicle body are respectively provided with an infrared sensor;

the lower part of the vehicle body is provided with a second camera which is arranged in front of the driving equipment, the upper end of the mechanical arm is provided with a third camera, the front end of the vehicle body is provided with a first camera, the upper part of the vehicle body is provided with an ultrasonic sensor, and the ultrasonic sensor is arranged in front of a main control box body of the system; the first camera is an RGB-D depth camera;

a central controller is arranged in the system main control box body;

the mechanical arm, the driving device, the infrared sensor, the first camera, the second camera and the ultrasonic sensor are electrically connected to the central controller.

The utility model is further improved in that:

preferably, the central controller is a dSPACE control system single board.

Preferably, a lithium ion battery is arranged in the vehicle body, and the lithium ion battery is electrically connected with the mechanical arm, the driving device, the infrared sensor, the second camera, the first camera, the third camera, the ultrasonic sensor and the central controller.

Preferably, the second camera and the third camera are both cassanbo qs 8130.

Preferably, the driving device comprises a servo electrode driver and four hub motors, the servo motor driver is respectively connected with the four hub motors, and each hub motor is arranged on one wheel.

Preferably, the servo electrode driver is ACS 806.

Preferably, the infrared sensor is an infrared obstacle avoidance sensor.

Preferably, the ultrasonic sensor is HT23C 16T/R-1.

Preferably, the second camera faces the ground.

Compared with the prior art, the utility model has the following beneficial effects:

the utility model discloses a construction robot based on multiple sensors. The construction robot is provided with a mechanical arm and a plurality of cameras on a system main control box body, and uses RGB-D cameras to complete external image information acquisition work; the RGB-D camera is combined with the central controller, so that the construction robot can determine the position of the construction robot at any time, and the construction robot can move as required. The utility model identifies the current dynamic obstacle information by using the RGB-D camera to complete the dynamic obstacle detection, then judges whether the robot finishes the real-time obstacle avoidance currently by combining with the infrared sensor, and finally transmits the existing path to the robot by the central processing unit, so that the building robot can move to the target position by other paths in the indoor and outdoor working process integrally.

Drawings

FIG. 1 is a block diagram of the system of the present invention;

wherein: 1-system master control box body; 2. a mechanical arm; 3. an ultrasonic sensor; 4. an infrared sensor; 5. a first camera; 6. a vehicle body; 7. a second camera; 8. a drive device; 9. a wheel; 10. and a third camera.

Detailed Description

The utility model is described in further detail below with reference to the accompanying drawings:

in the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention; the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; furthermore, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly and encompass, for example, both fixed and removable connections; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The construction robot body of the present invention includes: the four-wheel drive system comprises a first camera 5, a second camera 7, a plurality of sensing detection devices such as an infrared sensor 4 and an ultrasonic sensor 3, a four-wheel drive system 8 and a mechanical arm 2; RGB-D Infrared camera (Kinect equipment)

Further, the construction robot device comprises a vehicle body 6, wherein the upper part of the vehicle body 6 is fixedly provided with a system main control box body 1 and a mechanical arm 2, the system main control box body 1 and the mechanical arm 2 are adjacently arranged and are not in contact with each other; two sides of the upper part of the vehicle body 6 are respectively provided with an infrared sensor 4, and the model of the infrared sensor is E18-D80 NK-N. The system main control box body 1 is provided with an openable transparent packaging shell, the bottom of the shell is connected with the construction robot body 6, and the bottom of the side wall of the shell is provided with a plurality of small holes for wiring, so that a central controller can be conveniently connected with various sensing devices and information acquisition devices.

The upper part of the vehicle body 6 is provided with an ultrasonic sensor 3 with the model number of HT23C 16T/R-1. The ultrasonic sensor 3 is arranged in front of the system main control box body 1.

The upper end of arm 2 is provided with third camera 10, and the model of third camera 10 is carbonboQS 8130, and third camera 10 is connected with central controller.

The lower part of the vehicle body 6 is connected with a driving device 8, and the lower part of the driving device 8 is rotatably connected with wheels 9; the specific driving device 8 comprises a servo motor driver and four hub motors, the driving servo electrode driver is simultaneously connected with the four hub motors, the type of the servo motor driver is ACS806, and each hub motor is arranged on one wheel 9. The wheel 9 is a rubber tire with a skid-proof function and a protrusion on the surface of the tire so as to be better suitable for the construction environment of the building.

In front of the driving device 8, a second camera 7 is arranged at the lower part of the vehicle body 6, the specific model of the second camera 10 is cassanbo qs8130, and the second camera 10 faces the ground and is used for detecting pit information of the ground.

A first camera 5 is arranged on the front end face of the vehicle body 6, and a 5-bit RGB-D depth camera of the first camera is used for detecting space three-dimensional fixed obstacle information.

The power supply module is arranged at the tail part of the vehicle body 6 and adopts a 48V60ah lithium ion battery; the power supply module provides electric energy for each central controller, camera, sensor and driving equipment of the whole vehicle; the lithium ion battery has strong cruising ability and is portable and convenient to carry.

The central controller is arranged in the center of a vehicle body, the central controller is arranged in a system main control box body 1, sensing equipment and an information acquisition device are distributed on the vehicle body 6, the central controller adopts a dSPACE control system single board and mainly comprises a CPU and peripheral I/0 integrated part, a DS1103 processor board, a DS1104 processor board and the like. The central controller is connected with the PC end through wireless connection, so that images shot by the camera and an existing path are transmitted to the PC end, and meanwhile, instructions of the PC end can be received.

Specifically, the sensor includes an ultrasonic sensor 3 and an infrared sensor 4, and the information acquisition device is three cameras. The mechanical arm 2 is arranged on the right front of the vehicle body, a third camera 10 is arranged at the upper end of the mechanical arm 2, and the third camera 10 is a common camera.

Two infrared sensor 4 and first camera 5 cooperation are used, and earlier through first camera 5 through using RGB-D camera discernment current dynamic barrier information, transmit to central controller, and central controller sends the instruction to actuating system, and actuating system drives the robot and bypasses the back, combines to use infrared sensor 4 again, judges whether the robot has bypassed the barrier to accomplish and keep away the barrier in real time.

Emergency braking: when the construction robot runs and a dangerous condition such as falling of an object suddenly happens in front, the ultrasonic sensor 3 can detect the distance between the obstacle and the vehicle body in time, and when the distance is smaller than the safe distance, the central processing unit controls the driving device 8 to brake emergently and stop moving forward. On this basis, the central processing unit is connected with the alarm device, the alarm device is connected with the driving module 8, when the ultrasonic sensor 3 device detects that an obstacle appears and the distance is too close, the alarm device can send out an alarm signal in time, and the central control system can send out an instruction to drive the device 8 to brake emergently, so that the construction robot can avoid the obstacle in time. The alarm device consists of two parts of sound and light alarm, and the horn is arranged at the top of the package of the central controller in the small lamp, so that the observation is convenient.

Scene recognition: the camera is used for transmitting picture information of the working position in real time, the PC screen can display the position information of the current robot in real time, and the building robot stops moving after moving to the working place.

The power supply system is connected with the central processing unit, the two cameras and the driving module, and the driving system is connected with the wheels and the mechanical arms of the robot body and used for driving the building robot to move.

It should be noted that the various technical features described in the above embodiments can be combined in any suitable manner without contradiction, and the utility model is not described in any way for the possible combinations in order to avoid unnecessary repetition. In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.

Aiming at the research background and the related technical problems, the utility model aims to overcome the problems of a large number of obstacles, complex types and complex and volatile environmental conditions in a building construction site based on the type of the building robot, so that the building robot can determine the current position of the building robot at any time, and better realize the functions of positioning, moving path planning and the like of the building robot. The moving safety and the working safety of the construction robot are improved, and the overall detection control of the construction robot is completed by utilizing various sensing devices.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. A multi-sensor building robot is characterized by comprising a vehicle body (6), wherein a system main control box body (1) and a mechanical arm (2) are arranged on the vehicle body (6), and the mechanical arm (2) and the system main control box body (1) are arranged adjacently; the lower part of the vehicle body (6) is connected with a driving device (8), and the lower part of the driving device (8) is rotatably connected with wheels (9); two ends of the upper part of the vehicle body (6) are respectively provided with an infrared sensor (4);

a second camera (7) is arranged at the lower part of the vehicle body (6), the second camera (7) is arranged in front of a driving device (8), a third camera (10) is arranged at the upper end of the mechanical arm (2), a first camera (5) is arranged at the front end of the vehicle body (6), an ultrasonic sensor (3) is arranged at the upper part of the vehicle body (6), and the ultrasonic sensor (3) is arranged in front of a system main control box body (1); the first camera (5) is an RGB-D depth camera;

a central controller is arranged in the system main control box body (1);

the mechanical arm (2), the driving device (8), the infrared sensor (4), the first camera (5), the second camera (7) and the ultrasonic sensor (3) are all electrically connected to the central controller.

2. The multi-sensor construction robot of claim 1, wherein the central controller is a dSPACE control system single board.

3. The construction robot with multiple sensors according to claim 1, wherein a lithium ion battery is arranged in the vehicle body (6), and the lithium ion battery is electrically connected with the mechanical arm (2), the driving device (8), the infrared sensor (4), the second camera (7), the first camera (5), the third camera (10), the ultrasonic sensor (3) and the central controller.

4. A multi-sensor construction robot according to claim 1, characterized in that the second camera (7) and the third camera (10) are both cassanbo qs 8130.

5. A multisensor construction robot according to claim 1, wherein the drive means (8) comprises servo electrode drives and four hub motors, the servo motor drives being connected to the four hub motors, respectively, each hub motor being arranged on a wheel (9).

6. A multi-sensor construction robot according to claim 5, characterized in that the servo electrode driver is ACS 806.

7. A multisensor construction robot according to any one of claims 1-6, wherein the infrared sensors (4) are infrared obstacle avoidance sensors.

8. A multisensor construction robot according to claim 7, wherein the ultrasonic sensor (4) is HT23C 16T/R-1.

9. A multisensor construction robot according to claim 7, wherein the second camera (7) is directed towards the ground.